k1000dai/residualact_libero_smolvla_spatial_normal
Robotics • Updated • 1
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observation.images.image imagewidth (px) 256 256 | observation.images.wrist_image imagewidth (px) 256 256 | observation.state list | action list | timestamp float32 0 18.1 | frame_index int64 0 181 | episode_index int64 0 321 | index int64 0 39.5k | task_index int64 0 9 | vla_actions array 2D |
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0.014467095956206322,
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1.0737507343292236,
3.126863718032837,
0.10566715896129608,
0.19778285920619965,
0.0395701639354229,
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0.9375,
0.10446428507566452,
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0.009642857126891613,
0.05249999836087227,
-1
] | 2.3 | 23 | 0 | 23 | 0 | [
[
0.6922773122787476,
0.034952450543642044,
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[
0.725682258605957,
0.033474091440439224,
-0.5608751177787781,
-0.0016371177043765783,
-0.02541927248239517... |
End of preview. Expand in Data Studio
This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v2.1",
"robot_type": "panda",
"total_episodes": 432,
"total_frames": 52970,
"total_tasks": 10,
"total_videos": 0,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 10,
"splits": {
"train": "0:432"
},
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
"video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
"features": {
"observation.images.image": {
"dtype": "image",
"shape": [
256,
256,
3
],
"names": [
"height",
"width",
"channel"
]
},
"observation.images.wrist_image": {
"dtype": "image",
"shape": [
256,
256,
3
],
"names": [
"height",
"width",
"channel"
]
},
"observation.state": {
"dtype": "float32",
"shape": [
8
],
"names": [
"state"
]
},
"action": {
"dtype": "float32",
"shape": [
7
],
"names": [
"action"
]
},
"timestamp": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"frame_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"episode_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"index": {
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"shape": [
1
],
"names": null
},
"task_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"vla_actions": {
"dtype": "float32",
"shape": [
50,
7
],
"names": [
"vla_actions"
]
}
}
}
Citation
BibTeX:
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